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Updated Doxygen documentation.

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This commit is contained in:
Florian Pose
2007-09-24 12:12:11 +00:00
parent e8703b64d3
commit c5b3ade0c0
25 changed files with 201 additions and 44 deletions
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4
include/ecdb.h
View File

@@ -35,8 +35,8 @@
\file
EtherCAT Slave Database.
\warn Please do not create any dependencies to this file! It may be changed
between releases. Provide a copy, if you want to use it in foreign
\attention Please do not create any dependencies to this file! It may be
changed between releases. Provide a copy, if you want to use it in foreign
projects.
*/

14
include/ecrt.h
View File

@@ -59,10 +59,24 @@
/*****************************************************************************/
/**
* EtherCAT real-time interface major version number.
*/
#define ECRT_VER_MAJOR 1
/**
* EtherCAT real-time interface minor version number.
*/
#define ECRT_VER_MINOR 3
/**
* EtherCAT real-time interface version word generator.
*/
#define ECRT_VERSION(a,b) (((a) << 8) + (b))
/**
* EtherCAT real-time interface version word.
*/
#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
/*****************************************************************************/

41
master/canopen.c
View File

@@ -171,9 +171,14 @@ void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
/*****************************************************************************/
/**
* Get and SDO entry from an SDO via its subindex.
* \return pointer to SDO entry, or NULL.
*/
ec_sdo_entry_t *ec_sdo_get_entry(
ec_sdo_t *sdo,
uint8_t subindex
ec_sdo_t *sdo, /**< SDO */
uint8_t subindex /**< entry subindex */
)
{
ec_sdo_entry_t *entry;
@@ -188,6 +193,11 @@ ec_sdo_entry_t *ec_sdo_get_entry(
/*****************************************************************************/
/**
* Print SDO information to a buffer.
* /return size of bytes written to buffer.
*/
ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
char *buffer /**< target buffer */
)
@@ -203,6 +213,11 @@ ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
/*****************************************************************************/
/**
* Show an SDO as Sysfs attribute.
* /return size of bytes written to buffer.
*/
ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr,
char *buffer
@@ -285,6 +300,11 @@ void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)
}
/*****************************************************************************/
/**
* Print SDO entry information to a buffer.
* \return number of bytes written.
*/
ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
char *buffer /**< target buffer */
@@ -303,6 +323,11 @@ ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
/*****************************************************************************/
/**
* Format entry data based on the CANopen data type and print it to a buffer.
* \return number of bytes written.
*/
ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */
ec_sdo_request_t *request, /**< SDO request */
char *buffer /**< target buffer */
@@ -376,6 +401,13 @@ raw_data:
/*****************************************************************************/
/**
* Start SDO entry reading.
* This function blocks, until reading is finished, and is interruptible as
* long as the master state machine has not begun with reading.
* \return number of bytes written to buffer, or error code.
*/
ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
char *buffer /**< target buffer */
)
@@ -419,6 +451,11 @@ ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
/*****************************************************************************/
/**
* Show an SDO entry as Sysfs attribute.
* /return size of bytes written to buffer.
*/
ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr,
char *buffer

4
master/canopen.h
View File

@@ -108,10 +108,10 @@ ec_sdo_data_t;
typedef struct
{
struct list_head list; /**< list item */
ec_sdo_entry_t *entry;
ec_sdo_entry_t *entry; /**< SDO entry */
uint8_t *data; /**< pointer to SDO data */
size_t size; /**< size of SDO data */
ec_request_state_t state;
ec_request_state_t state; /**< SDO request state */
}
ec_sdo_request_t;

2
master/datagram.c
View File

@@ -309,7 +309,7 @@ int ec_datagram_lrw(ec_datagram_t *datagram,
*/
void ec_datagram_print_wc_error(
const ec_datagram_t *datagram
const ec_datagram_t *datagram /**< EtherCAT datagram */
)
{
if (datagram->working_counter == 0)

8
master/device.h
View File

@@ -47,6 +47,12 @@
#include "../devices/ecdev.h"
#include "globals.h"
/**
* Size of the transmit ring.
* This memory ring is used to transmit frames. It is necessary to use
* different memory regions, because otherwise the network device DMA could
* send the same data twice, if it is called twice.
*/
#define EC_TX_RING_SIZE 2
#ifdef EC_DEBUG_IF
@@ -87,7 +93,7 @@ struct ec_device
uint8_t open; /**< true, if the net_device has been opened */
uint8_t link_state; /**< device link state */
struct sk_buff *tx_skb[EC_TX_RING_SIZE]; /**< transmit skb ring */
unsigned int tx_ring_index;
unsigned int tx_ring_index; /**< last ring entry used to transmit */
cycles_t cycles_poll; /**< cycles of last poll */
#ifdef EC_DEBUG_RING
struct timeval timeval_poll;

11
master/fsm_coe_map.c
View File

@@ -69,7 +69,7 @@ void ec_fsm_coe_map_clear_pdos(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_init(
ec_fsm_coe_map_t *fsm, /**< finite state machine */
ec_fsm_coe_t *fsm_coe /*< CoE state machine to use */
ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
)
{
fsm->state = NULL;
@@ -91,6 +91,7 @@ void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
/*****************************************************************************/
/**
* Clear FSM PDOs.
*/
void ec_fsm_coe_map_clear_pdos(
@@ -154,6 +155,7 @@ int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
*****************************************************************************/
/**
* Start reading mapping.
*/
void ec_fsm_coe_map_state_start(
@@ -168,6 +170,7 @@ void ec_fsm_coe_map_state_start(
/*****************************************************************************/
/**
* Read mapping of next sync manager.
*/
void ec_fsm_coe_map_action_next_sync(
@@ -208,6 +211,7 @@ void ec_fsm_coe_map_action_next_sync(
/*****************************************************************************/
/**
* Count mapped PDOs.
*/
void ec_fsm_coe_map_state_pdo_count(
@@ -236,6 +240,7 @@ void ec_fsm_coe_map_state_pdo_count(
/*****************************************************************************/
/**
* Read next PDO.
*/
void ec_fsm_coe_map_action_next_pdo(
@@ -282,6 +287,7 @@ void ec_fsm_coe_map_action_next_pdo(
/*****************************************************************************/
/**
* Fetch PDO information.
*/
void ec_fsm_coe_map_state_pdo(
@@ -362,6 +368,7 @@ void ec_fsm_coe_map_state_pdo(
/*****************************************************************************/
/**
* Read number of PDO entries.
*/
void ec_fsm_coe_map_state_pdo_entry_count(
@@ -390,6 +397,7 @@ void ec_fsm_coe_map_state_pdo_entry_count(
/*****************************************************************************/
/**
* Read next PDO entry.
*/
void ec_fsm_coe_map_action_next_pdo_entry(
@@ -423,6 +431,7 @@ void ec_fsm_coe_map_action_next_pdo_entry(
/*****************************************************************************/
/**
* Read PDO entry information.
*/
void ec_fsm_coe_map_state_pdo_entry(

20
master/fsm_coe_map.h
View File

@@ -59,18 +59,18 @@ struct ec_fsm_coe_map
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
ec_slave_t *slave; /**< EtherCAT slave */
ec_sdo_request_t request;
ec_sdo_request_t request; /**< SDO request */
unsigned int sync_index;
ec_sdo_t *sync_sdo;
uint8_t sync_subindices;
uint16_t sync_subindex;
unsigned int sync_index; /**< index of the current sync manager */
ec_sdo_t *sync_sdo; /**< pointer to the sync managers mapping SDO */
uint8_t sync_subindices; /**< number of mapped PDOs */
uint16_t sync_subindex; /**< current subindex in mapping SDO */
struct list_head pdos;
ec_pdo_t *pdo;
ec_sdo_t *pdo_sdo;
uint8_t pdo_subindices;
uint16_t pdo_subindex;
struct list_head pdos; /**< list of mapped PDOs */
ec_pdo_t *pdo; /**< current PDO */
ec_sdo_t *pdo_sdo; /**< current PDO SDO */
uint8_t pdo_subindices; /**< number of PDO entries */
uint16_t pdo_subindex; /**< current subindex in PDO SDO */
};
/*****************************************************************************/

8
master/fsm_mapping.c
View File

@@ -138,10 +138,11 @@ int ec_fsm_mapping_success(
}
/******************************************************************************
* PDO mapping state machine
* state functions
*****************************************************************************/
/**
* Start mapping configuration.
*/
void ec_fsm_mapping_state_start(
@@ -155,6 +156,7 @@ void ec_fsm_mapping_state_start(
/*****************************************************************************/
/**
* Process mapping of next sync manager.
*/
void ec_fsm_mapping_next_sync(
@@ -200,6 +202,7 @@ void ec_fsm_mapping_next_sync(
/*****************************************************************************/
/**
* Process mapping of next PDO.
*/
ec_pdo_t *ec_fsm_mapping_next_pdo(
@@ -223,6 +226,7 @@ ec_pdo_t *ec_fsm_mapping_next_pdo(
/*****************************************************************************/
/**
* Set the number of mapped PDOs to zero.
*/
void ec_fsm_mapping_state_zero_count(
@@ -268,6 +272,7 @@ void ec_fsm_mapping_state_zero_count(
/*****************************************************************************/
/**
* Add a PDO to the sync managers mapping.
*/
void ec_fsm_mapping_state_add_pdo(
@@ -318,6 +323,7 @@ void ec_fsm_mapping_state_add_pdo(
/*****************************************************************************/
/**
* Set the number of mapped PDOs.
*/
void ec_fsm_mapping_state_pdo_count(

2
master/fsm_mapping.h
View File

@@ -66,7 +66,7 @@ struct ec_fsm_mapping
ec_pdo_t *pdo; /**< current PDO */
ec_sdo_data_t sdodata; /**< SDO configuration data */
uint16_t sdo_value; /**< SDO value */
unsigned int pdo_count;
unsigned int pdo_count; /**< number of mapped PDOs */
};
/*****************************************************************************/

2
master/fsm_master.c
View File

@@ -417,6 +417,7 @@ int ec_fsm_master_action_process_sdo(
/*****************************************************************************/
/**
* Check for slaves that are not configured and configure them.
*/
int ec_fsm_master_action_configure(
@@ -1029,6 +1030,7 @@ void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine
/*****************************************************************************/
/**
* Scan the PDO mapping of a slave.
*/
void ec_fsm_master_state_pdomap(

12
master/fsm_master.h
View File

@@ -58,12 +58,12 @@
typedef struct
{
struct list_head list;
ec_slave_t *slave;
off_t word_offset;
size_t word_size;
const uint8_t *data;
ec_request_state_t state;
struct list_head list; /**< list head */
ec_slave_t *slave; /**< EtherCAT slave */
off_t word_offset; /**< SII address in words */
size_t word_size; /**< data size in words */
const uint8_t *data; /**< pointer to the data */
ec_request_state_t state; /**< state of the request */
}
ec_eeprom_write_request_t;

11
master/fsm_sii.c
View File

@@ -43,8 +43,15 @@
#include "master.h"
#include "fsm_sii.h"
#define EEPROM_TIMEOUT 10 // read/write timeout [ms]
#define EEPROM_INHIBIT 5 // time before evaluating answer at writing [ms]
/**
* Read/Write timeout. [ms]
*/
#define EEPROM_TIMEOUT 10
/**
* Time before evaluating answer at writing. [ms]
*/
#define EEPROM_INHIBIT 5
//#define SII_DEBUG

3
master/fsm_sii.h
View File

@@ -48,6 +48,9 @@
/*****************************************************************************/
/**
* SII access addressing mode.
*/
typedef enum
{
EC_FSM_SII_POSITION,

10
master/fsm_slave.c
View File

@@ -697,6 +697,7 @@ void ec_fsm_slave_conf_state_clear_fmmus(ec_fsm_slave_t *fsm
/*****************************************************************************/
/**
* Check for mailbox sync managers to be configured.
*/
void ec_fsm_slave_conf_enter_mbox_sync(
@@ -810,6 +811,7 @@ void ec_fsm_slave_conf_state_mbox_sync(ec_fsm_slave_t *fsm /**< slave state mach
/*****************************************************************************/
/**
* Request PREOP state.
*/
void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -861,6 +863,7 @@ void ec_fsm_slave_conf_state_preop(ec_fsm_slave_t *fsm /**< slave state machine
/*****************************************************************************/
/**
* Check for SDO configurations to be applied.
*/
void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -916,6 +919,7 @@ void ec_fsm_slave_conf_state_sdoconf(
/*****************************************************************************/
/**
* Check for alternative PDO mappings to be applied.
*/
void ec_fsm_slave_conf_enter_mapconf(
@@ -962,6 +966,7 @@ void ec_fsm_slave_conf_state_mapconf(
/*****************************************************************************/
/**
* Check for PDO sync managers to be configured.
*/
void ec_fsm_slave_conf_enter_pdo_sync(
@@ -994,6 +999,7 @@ void ec_fsm_slave_conf_enter_pdo_sync(
/*****************************************************************************/
/**
* Configure PDO sync managers.
*/
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -1027,7 +1033,8 @@ void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machi
/*****************************************************************************/
/**
*/
* Check for FMMUs to be configured.
*/
void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
{
@@ -1089,6 +1096,7 @@ void ec_fsm_slave_conf_state_fmmu(ec_fsm_slave_t *fsm /**< slave state machine *
/*****************************************************************************/
/**
* Request SAVEOP state.
*/
void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)

2
master/fsm_slave.h
View File

@@ -66,7 +66,7 @@ struct ec_fsm_slave
void (*state)(ec_fsm_slave_t *); /**< state function */
ec_sdo_data_t *sdodata; /**< SDO configuration data */
uint16_t sii_offset;
uint16_t sii_offset; /**< SII offset in words */
ec_fsm_sii_t fsm_sii; /**< SII state machine */
ec_fsm_change_t fsm_change; /**< State change state machine */

2
master/globals.h
View File

@@ -201,7 +201,7 @@ ec_request_state_t;
/*****************************************************************************/
typedef struct ec_sdo ec_sdo_t;
typedef struct ec_sdo ec_sdo_t; /**< \see ec_sdo */
/*****************************************************************************/

13
master/master.c
View File

@@ -57,13 +57,11 @@
/*****************************************************************************/
void ec_master_destroy_domains(ec_master_t *);
void ec_master_sync_io(ec_master_t *);
static int ec_master_idle_thread(ec_master_t *);
static int ec_master_operation_thread(ec_master_t *);
#ifdef EC_EOE
void ec_master_eoe_run(unsigned long);
#endif
void ec_master_check_sdo(unsigned long);
ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,
const char *, size_t);
@@ -917,10 +915,15 @@ schedule:
/*****************************************************************************/
/**
* Prints the device information to a buffer.
* \return number of bytes written.
*/
ssize_t ec_master_device_info(
const ec_device_t *device,
const uint8_t *mac,
char *buffer
const ec_device_t *device, /**< EtherCAT device */
const uint8_t *mac, /**< MAC address */
char *buffer /**< target buffer */
)
{
unsigned int frames_lost;

2
master/master.h
View File

@@ -132,7 +132,7 @@ struct ec_master
int debug_level; /**< master debug level */
ec_stats_t stats; /**< cyclic statistics */
unsigned int pdo_slaves_offline; /** number of slaves, for which PDOs
unsigned int pdo_slaves_offline; /**< number of slaves, for which PDOs
were registered and that are offline
(used for bus status) */
unsigned int frames_timed_out; /**< there were frame timeouts in the last

31
master/module.c
View File

@@ -75,7 +75,7 @@ static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses */
static dev_t device_number; /**< XML character device number */
ec_xmldev_t xmldev; /**< XML character device */
char *ec_master_version_str = EC_MASTER_VERSION;
char *ec_master_version_str = EC_MASTER_VERSION; /**< master version string */
/*****************************************************************************/
@@ -207,6 +207,10 @@ void __exit ec_cleanup_module(void)
* MAC address functions
****************************************************************************/
/**
* \return true, if two MAC addresses are equal.
*/
int ec_mac_equal(const uint8_t *mac1, const uint8_t *mac2)
{
unsigned int i;
@@ -220,7 +224,15 @@ int ec_mac_equal(const uint8_t *mac1, const uint8_t *mac2)
/*****************************************************************************/
ssize_t ec_mac_print(const uint8_t *mac, char *buffer)
/**
* Print a MAC address to a buffer.
* \return number of bytes written.
*/
ssize_t ec_mac_print(
const uint8_t *mac, /**< MAC address */
char *buffer /**< target buffer */
)
{
off_t off = 0;
unsigned int i;
@@ -235,6 +247,10 @@ ssize_t ec_mac_print(const uint8_t *mac, char *buffer)
/*****************************************************************************/
/**
* \return true, if the MAC address is all-zero.
*/
int ec_mac_is_zero(const uint8_t *mac)
{
unsigned int i;
@@ -248,6 +264,10 @@ int ec_mac_is_zero(const uint8_t *mac)
/*****************************************************************************/
/**
* \return true, if the given MAC address is the broadcast address.
*/
int ec_mac_is_broadcast(const uint8_t *mac)
{
unsigned int i;
@@ -261,6 +281,13 @@ int ec_mac_is_broadcast(const uint8_t *mac)
/*****************************************************************************/
/**
* Parse a MAC address from a string.
* The MAC address must follow the regexp
* "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".
\return 0 on success, else < 0
*/
static int ec_mac_parse(uint8_t *mac, const char *src, int allow_empty)
{
unsigned int i, value;

30
master/slave.c
View File

@@ -282,7 +282,8 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
/*****************************************************************************/
/**
*/
* SDO kobject clear method.
*/
void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
{
@@ -374,6 +375,7 @@ void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */
/*****************************************************************************/
/**
* Request a slave state and resets the error flag.
*/
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
@@ -875,7 +877,9 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
* \return 0 case of success, otherwise error code.
*/
int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
int ec_slave_schedule_eeprom_writing(
ec_eeprom_write_request_t *request /**< EEPROM write request */
)
{
ec_master_t *master = request->slave->master;
@@ -924,7 +928,10 @@ int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
* \return CRC8
*/
uint8_t ec_slave_eeprom_crc(const uint8_t *data, size_t length)
uint8_t ec_slave_eeprom_crc(
const uint8_t *data, /**< pointer to data */
size_t length /**< number of bytes in \a data */
)
{
unsigned int i;
uint8_t bit, byte, crc = 0x48;
@@ -1179,6 +1186,8 @@ ssize_t ec_store_slave_attribute(struct kobject *kobj, /**< slave's kobject */
/*****************************************************************************/
/**
* Get the sync manager for either Rx- or Tx-PDOs.
* \return pointer to sync manager, or NULL.
*/
ec_sync_t *ec_slave_get_pdo_sync(
@@ -1372,6 +1381,10 @@ int ecrt_slave_conf_sdo32(ec_slave_t *slave, /**< EtherCAT slave */
/*****************************************************************************/
/**
* Clear slave's PDO mapping.
*/
void ecrt_slave_pdo_mapping_clear(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir /**< output/input */
@@ -1393,10 +1406,14 @@ void ecrt_slave_pdo_mapping_clear(
/*****************************************************************************/
/**
* Add a PDO to the list of known mapped PDOs.
*/
int ecrt_slave_pdo_mapping_add(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir, /**< input/output */
uint16_t pdo_index /**< Index of PDO mapping list */)
uint16_t pdo_index /**< Index of mapped PDO */)
{
ec_pdo_t *pdo;
ec_sync_t *sync;
@@ -1444,6 +1461,11 @@ int ecrt_slave_pdo_mapping_add(
/*****************************************************************************/
/**
* Convenience function for ecrt_slave_pdo_mapping_clear() and
* ecrt_slave_pdo_mapping_add().
*/
int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir, /**< input/output */
unsigned int num_args, /**< Number of following arguments */

1
master/slave.h
View File

@@ -83,6 +83,7 @@ ec_slave_state_t;
/*****************************************************************************/
/**
* EtherCAT slave online state.
*/
typedef enum {

4
master/sync.c
View File

@@ -140,6 +140,8 @@ void ec_sync_config(
/*****************************************************************************/
/**
* Adds a PDO to the list of known mapped PDOs.
* \return 0 on success, else < 0
*/
int ec_sync_add_pdo(
@@ -178,6 +180,7 @@ int ec_sync_add_pdo(
/*****************************************************************************/
/**
* Clears the list of known mapped PDOs.
*/
void ec_sync_clear_pdos(
@@ -197,6 +200,7 @@ void ec_sync_clear_pdos(
/*****************************************************************************/
/**
* \return Type of PDOs covered by the given sync manager.
*/
ec_pdo_type_t ec_sync_get_pdo_type(

4
master/xmldev.c
View File

@@ -45,6 +45,8 @@
/*****************************************************************************/
/** \cond */
static char *test_str = "hello world!\n";
int ecxmldev_open(struct inode *, struct file *);
@@ -169,4 +171,6 @@ ssize_t ecxmldev_write(struct file *filp,
return -EFAULT;
}
/** \endcond */
/*****************************************************************************/

4
master/xmldev.h
View File

@@ -63,11 +63,15 @@ ec_xmldev_t;
/*****************************************************************************/
/** \cond */
int ec_xmldev_init(ec_xmldev_t *, ec_master_t *, dev_t);
void ec_xmldev_clear(ec_xmldev_t *);
int ec_xmldev_request(ec_xmldev_t *, uint32_t, uint32_t);
/** \endcond */
/*****************************************************************************/
#endif